function ds = loadSydneyUrbanObjectsData(datapath,folds)

	if nargin == 0
		    return;
	end

	if nargin < 2
		    folds = 1:4;
	end

	datapath = string(datapath);
	path = fullfile(datapath,'objects',filesep);

	% Add folds to datastore.
	foldNames{1} = importdata(fullfile(datapath,'folds','fold0.txt'));
	foldNames{2} = importdata(fullfile(datapath,'folds','fold1.txt'));
	foldNames{3} = importdata(fullfile(datapath,'folds','fold2.txt'));
	foldNames{4} = importdata(fullfile(datapath,'folds','fold3.txt'));
	names = foldNames(folds);
	names = vertcat(names{:});

	fullFilenames = append(path,names);
	ds = fileDatastore(fullFilenames,'ReadFcn',@extractTrainingData,'FileExtensions','.bin');
end
